EP3881981A4 - AUTOMATIC TEACHING SYSTEM - Google Patents

AUTOMATIC TEACHING SYSTEM Download PDF

Info

Publication number
EP3881981A4
EP3881981A4 EP20848684.5A EP20848684A EP3881981A4 EP 3881981 A4 EP3881981 A4 EP 3881981A4 EP 20848684 A EP20848684 A EP 20848684A EP 3881981 A4 EP3881981 A4 EP 3881981A4
Authority
EP
European Patent Office
Prior art keywords
teaching system
automatic teaching
automatic
teaching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP20848684.5A
Other languages
German (de)
French (fr)
Other versions
EP3881981A1 (en
Inventor
Genji Nakayama
Yoshio HIGASHI
Yoshikazu Hayashi
Hiroyuki Suzuki
Hideo Shiwa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taikisha Ltd
Original Assignee
Taikisha Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taikisha Ltd filed Critical Taikisha Ltd
Publication of EP3881981A1 publication Critical patent/EP3881981A1/en
Publication of EP3881981A4 publication Critical patent/EP3881981A4/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0081—Program-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36248—Generate automatically machining, stitching points from scanned contour
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36282—Divide complex sculptured surface into smaller, easier to machine areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40425—Sensing, vision based motion planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45096—Polishing manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
EP20848684.5A 2020-01-24 2020-08-27 AUTOMATIC TEACHING SYSTEM Ceased EP3881981A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020009997A JP6903777B1 (en) 2020-01-24 2020-01-24 Automatic teaching system
PCT/JP2020/032317 WO2021149295A1 (en) 2020-01-24 2020-08-27 Automatic teaching system

Publications (2)

Publication Number Publication Date
EP3881981A1 EP3881981A1 (en) 2021-09-22
EP3881981A4 true EP3881981A4 (en) 2022-04-13

Family

ID=76753197

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20848684.5A Ceased EP3881981A4 (en) 2020-01-24 2020-08-27 AUTOMATIC TEACHING SYSTEM

Country Status (5)

Country Link
US (1) US12050457B2 (en)
EP (1) EP3881981A4 (en)
JP (1) JP6903777B1 (en)
CN (1) CN113474132B (en)
WO (1) WO2021149295A1 (en)

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Publication number Priority date Publication date Assignee Title
US20220032461A1 (en) * 2020-07-31 2022-02-03 GrayMatter Robotics Inc. Method to incorporate complex physical constraints in path-constrained trajectory planning for serial-link manipulator
JP2023004016A (en) * 2021-06-25 2023-01-17 セイコーエプソン株式会社 Program creation apparatus and program
CN117642367A (en) 2021-07-13 2024-03-01 住友电气工业株式会社 Manufacturing method of optical fiber and optical fiber
CN113344952B (en) * 2021-07-28 2021-11-19 浙江华睿科技股份有限公司 A kind of edge trimming method, device and electronic equipment
KR102695579B1 (en) * 2022-02-16 2024-08-19 한국유지건설(주) AI robot system for provides painting and maintenance functions for water tank structures
CN114707253B (en) * 2022-05-25 2022-08-26 南京航空航天大学 Feature-guidance-based three-dimensional measurement robot scanning track optimization method
CN117696296A (en) * 2022-09-09 2024-03-15 上海科技大学 Automatic spraying robot applied to door industry, spraying method and terminal
CN116852374B (en) * 2023-08-08 2024-04-26 深圳创劲鑫科技有限公司 Intelligent robot control system based on machine vision

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US20110282492A1 (en) * 2009-02-03 2011-11-17 Ken Krause Method of controlling a robotic tool
US20160271796A1 (en) * 2015-03-19 2016-09-22 Rahul Babu Drone Assisted Adaptive Robot Control
US20180326591A1 (en) * 2015-11-09 2018-11-15 ATENSOR Engineering and Technology Systems GmbH Automatic detection and robot-assisted machining of surface defects

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US20110282492A1 (en) * 2009-02-03 2011-11-17 Ken Krause Method of controlling a robotic tool
JP2010221381A (en) * 2009-03-25 2010-10-07 Fuji Xerox Co Ltd Method for assembling part and device for assembling the part
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US20180326591A1 (en) * 2015-11-09 2018-11-15 ATENSOR Engineering and Technology Systems GmbH Automatic detection and robot-assisted machining of surface defects

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PUSHCORP: "Deburring | Engine Block & Pipe | AFD & STC | End Of Arm Robotic Tooling", 24 April 2018 (2018-04-24), XP093125896, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=8uzrGi4zILg&list=PLiWXC5mNEybE2gHDBZHucscoVjjXFSSx5&index=7> [retrieved on 20240131] *
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Also Published As

Publication number Publication date
US12050457B2 (en) 2024-07-30
US20220113711A1 (en) 2022-04-14
WO2021149295A1 (en) 2021-07-29
CN113474132A (en) 2021-10-01
JP2021115656A (en) 2021-08-10
EP3881981A1 (en) 2021-09-22
JP6903777B1 (en) 2021-07-14
CN113474132B (en) 2022-09-20

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